ReachabilityMap

class compas_fab.robots.ReachabilityMap

Bases: Data

The ReachabilityMap describes the reachability of a robot.

The ReachabilityMap describes the reachability of a robot at certain frames, with valid IK solutions at these frames. The map only makes sense to be calculated with analytic inverse kinematic solvers, as they include all possible solutions to be found.

Notes

See Also reuleaux

Attributes:

frameslist of list of compas.geometry.Frame

The frames at which the IK solutions are calculated.

configurationslist of list of list of compas_robots.Configuration

The configurations at the frames.

scorelist of int

The number of solutions per frame list (2D)

pointslist of compas.geometry.Point

Returns a 1D list of points from the first frame in the list.

shapetuple of int

The shape of the frames array

Methods

calculate	Calculates the reachability map.
reachable_frames_and_configurations_at_ik_index	Returns the reachable frames and configurations at a specific ik index.

Inherited Methods

ToString	Converts the instance to a string.
copy	Make an independent copy of the data object.
from_json	Construct an object of this type from a JSON file.
from_jsonstring	Construct an object of this type from a JSON string.
sha256	Compute a hash of the data for comparison during version control using the sha256 algorithm.
to_json	Convert an object to its native data representation and save it to a JSON file.
to_jsonstring	Convert an object to its native data representation and save it to a JSON string.
validate_data	Validate the data against the object's data schema.